Development of an elephant trunk-like robot actuated by parallel binary manipulators | |
| Author | Kittipong Chalitapanukul |
| Call Number | AIT Thesis no.ISE-03-28 |
| Subject(s) | Binary control systems Robots Control systems |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering, School of Advanced Technologies |
| Publisher | Asian Institute of Technology |
| Series Statement | Thesis ; no. ISE-03-28 |
| Abstract | An Elephant trunk-like robot manipulator is a biologically inspired robot powered by parallel binary actuators. Hyper-redundancy has a very large number of actuated degrees of freedom. For the complex or clutter environments, the hyper-redundant manipulators have higher maneuverability than conventional manipulators. Binary actuators have two stable states, for example, closed (0) and open (1 ). Major benefits of this kind of manipulator are repeatability, relatively low cost, and no need for feedback control. In addition, hyper-redundancy allows tasks to be performed even when some actuators fail. This thesis presents a binary robot prototype built with the purpose of demonstrating the potential of parallel mechanism called a Variable Geometry Truss (VGT) by starting from design stage. The structure of binary robot and selection of equipments are considered. In addition, the workspaces and all reachable coordinate points of the robot are generated including the relation of twisted angle and binary robot range. Finally, the algorithms of binaiy robot control are also given. |
| Year | 2003 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. ISE-03-28 |
| Type | Thesis |
| School | School of Advanced Technologies (SAT) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Bohez, Erik L. J.; |
| Examination Committee(s) | Afzulpurkar, Nitin V.;Manukid Parnichkun; |
| Scholarship Donor(s) | Royal Thai Government (Partial); |
| Degree | Thesis (M.Eng.) - Asian Institute of Technology, 2003 |